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Merge branch 'bugfix/step_motor_example_check_curve_step' into 'master'

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stepper motor example: check curve_step for stepper motor encoder

Closes IDFGH-8824

See merge request espressif/esp-idf!21318
This commit is contained in:
morris
2022-11-30 14:58:59 +08:00
parent 09231b4fa2 a933539dd2
commit 234b2fac35
2 changed files with 5 additions and 3 deletions
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6
examples/peripherals/rmt/stepper_motor/main/stepper_motor_encoder.c
View File

@@ -76,8 +76,9 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
bool is_accel_curve = config->start_freq_hz < config->end_freq_hz;
// prepare the curve table, in RMT symbol format
uint32_t curve_step = 0;
if (is_accel_curve) {
uint32_t curve_step = (config->end_freq_hz - config->start_freq_hz) / (config->sample_points - 1);
curve_step = (config->end_freq_hz - config->start_freq_hz) / (config->sample_points - 1);
for (uint32_t i = 0; i < config->sample_points; i++) {
smooth_freq = convert_to_smooth_freq(config->start_freq_hz, config->end_freq_hz, config->start_freq_hz + curve_step * i);
symbol_duration = config->resolution / smooth_freq / 2;
@@ -87,7 +88,7 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
step_encoder->curve_table[i].duration1 = symbol_duration;
}
} else {
uint32_t curve_step = (config->start_freq_hz - config->end_freq_hz) / (config->sample_points - 1);
curve_step = (config->start_freq_hz - config->end_freq_hz) / (config->sample_points - 1);
for (uint32_t i = 0; i < config->sample_points; i++) {
smooth_freq = convert_to_smooth_freq(config->end_freq_hz, config->start_freq_hz, config->end_freq_hz + curve_step * i);
symbol_duration = config->resolution / smooth_freq / 2;
@@ -97,6 +98,7 @@ esp_err_t rmt_new_stepper_motor_curve_encoder(const stepper_motor_curve_encoder_
step_encoder->curve_table[config->sample_points - i - 1].duration1 = symbol_duration;
}
}
ESP_GOTO_ON_FALSE(curve_step > 0, ESP_ERR_INVALID_ARG, err, TAG, "|end_freq_hz - start_freq_hz| can't be smaller than sample_points");
step_encoder->sample_points = config->sample_points;
step_encoder->flags.is_accel_curve = is_accel_curve;

2
examples/peripherals/rmt/stepper_motor/main/stepper_motor_encoder.h
View File

@@ -17,7 +17,7 @@ extern "C" {
*/
typedef struct {
uint32_t resolution; // Encoder resolution, in Hz
uint32_t sample_points; // Sample points used for deceleration phase
uint32_t sample_points; // Sample points used for deceleration phase. Note: |end_freq_hz - start_freq_hz| >= sample_points
uint32_t start_freq_hz; // Start frequency on the curve, in Hz
uint32_t end_freq_hz; // End frequency on the curve, in Hz
} stepper_motor_curve_encoder_config_t;